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Abstract
This report discusses the strategy of a SimLE SeaSentinel Team for RoboBoat 2024 and the design of our system. The system consists of an Autonomous Surface Vehicle (ASV) named ASV Rybitwa, a Ground Segment and a set of procedures that allow us to effectively operate it all. In our work, we try to follow systems engineering principles. For this reason our work during the last ten months consisted of following phases: mission definition and general strategy, requirements, concept, design, production and testing. We have come to a conclusion that the best course of action for our team would be to try to approach the same tasks as last year. In essence, we decided that ASV Rybitwa will be an improved version of ASV Perkoz as most of or main design features proved to work very effectively during RoboBoat 2023 competition. ASV Rybitwa will be a modular, easily transportable catamaran made mostly of fibreglass and 3D printed PET-G. The propulsion system consisting of four thrusters will provide us with omnidirectional movement capabilities. In addition, we will equip our ASV with a water cannon in order to approach Task 4. All modules within our boat will communicate with each other via an Ethernet network. With the help of our new partner AQ Wiring Systems STG, we also managed to develop a more professional electrical system. Computer vision will rely solely on OAK-D stereo cameras. As a basis of our software system architecture, we decided to utilize Robot Operating System 2 (ROS2). We will maintain communication with our ASV with the help of three different radio links. Apart from the boat, we also decided to improve our Ground Segment, which includes a brand new Operator Control Station and modified transport and handling equipment. In addition, we greatly increased the amount and frequency of conducted tests.
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- Category:
- Articles
- Type:
- artykuły w czasopismach
- Published in:
-
NAVAL ENGINEERS JOURNAL
no. 136,
pages 197 - 204,
ISSN: 0028-1425 - Language:
- English
- Publication year:
- 2024
- Bibliographic description:
- Rusiecki I., Wieczorkowski C., Wilk J., Ujazdowski T., Pyskovayskyi S., Solarczyk M., Sobolewski P., Rzepinski K., Prudel P., Stroinski P., Zawadzki M., Sieklicki W.: RoboBoat 2024: Technical Design Report SimLE SeaSentinel Team// NAVAL ENGINEERS JOURNAL -,iss. 136/3 (2024), s.197-204
- DOI:
- Digital Object Identifier (open in new tab) 10.1111/j.1559-3584
- Sources of funding:
-
- Free publication
- Verified by:
- Gdańsk University of Technology
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